from launch import LaunchDescription
import launch_ros.actions

def generate_launch_description():
    #找到配置文件的路径
    mpc_param_dir = '/etc/ibee-conf/mpc-config.yaml'
    return LaunchDescription([
        launch_ros.actions.Node(
            package='mpc',
            name='mpc',  # 对应 yaml 的 定义头.
            executable='mpc',
            parameters=[mpc_param_dir],
            output='screen'),
    ])